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feat(pi052): add language-supervised policy

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Pepijn
2026-07-28 10:08:20 +02:00
parent f2b90e3ad6
commit a6f533a6dd
41 changed files with 7406 additions and 289 deletions
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pyproject.toml
+2 -1
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@@ -150,6 +150,7 @@ pygame-dep = ["pygame>=2.5.1,<2.7.0"]
# There is no cmeel-urdfdom 5.x; <5 selects the 4.x ABI the placo/pin wheels are built against.
placo-dep = ["placo>=0.9.6,<0.9.16", "cmeel-urdfdom>=4,<5", "cmeel-tinyxml2<11"]
transformers-dep = ["transformers>=5.4.0,<5.6.0"]
sentencepiece-dep = ["sentencepiece>=0.2.0,<0.3.0"] # FAST action tokenizer backend (pi052, pi0_fast)
grpcio-dep = ["grpcio>=1.73.1,<2.0.0", "protobuf>=6.31.1,<8.0.0"]
accelerate-dep = ["accelerate>=1.14.0,<2.0.0"]
can-dep = ["python-can>=4.2.0,<5.0.0"]
@@ -212,7 +213,7 @@ wallx = [
"torchdiffeq>=0.2.4,<0.3.0",
"lerobot[qwen-vl-utils-dep]",
]
pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]"]
pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]", "lerobot[sentencepiece-dep]"]
molmoact2 = ["lerobot[transformers-dep]", "lerobot[peft-dep]", "lerobot[scipy-dep]"]
smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "lerobot[accelerate-dep]"]
multi_task_dit = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]"]